JP4111959B2 - Distance measuring system - Google Patents

Description

  The present invention relates to a distance measurement system, and more particularly to a distance measurement system that measures a distance between a transmission device and a detection device by combining a wireless tag system and an optical tag system, for example.

  An example of an optical tag system is disclosed in Patent Document 1 by the present applicant. In this optical tag system, an infrared tag transmits an ID number by flashing infrared rays. The detection device includes an infrared filter and a CMOS image sensor, and detects the ID number of the infrared tag and the XY coordinates on the image from the captured infrared image. Therefore, the direction in which the infrared tag exists can be recognized.

On the other hand, in the wireless tag system, it is possible to recognize whether or not the wireless tag exists in the vicinity of the wireless tag detection device (within a communicable distance range). In the wireless tag system, the approximate distance from the wireless tag can be estimated from the received radio wave intensity. For example, Patent Document 2 discloses a system that issues a warning by detecting a change in distance from a wireless tag.
JP 2004-208229 A Special Table 2002-525640

  In the optical tag system, it is easy to recognize the direction, but it is difficult to recognize how far the tag is located by a single detection device. On the other hand, in the wireless tag system, although an approximate distance can be estimated, there is a problem that an error in the measured distance increases because the received radio wave intensity changes due to concealment (for example, concealment by a human body).

  Therefore, a main object of the present invention is to provide a distance measuring system capable of measuring a distance with a small error.

  Another object of the present invention is to provide a distance measuring system capable of measuring a distance with higher accuracy.

  The invention of claim 1 is a distance measuring system that includes a transmitting device and a detecting device, and measures the distance between the transmitting device and the detecting device. The transmitting device includes a wireless tag that wirelessly transmits wireless identification information and a first optical tag that transmits first optical identification information by light, and the detection device determines the wireless identification information and the received radio wave intensity transmitted by the wireless tag. Radio tag detection means for detecting, and first optical tag detection means for detecting first optical identification information transmitted by the first optical tag. The distance measurement system further includes distance calculation means for calculating a distance based on the received radio wave intensity, wireless identification information detected by the wireless tag detection means, and first optical identification information detected by the first optical tag detection means. A determination unit that determines whether or not the identification information is from the same transmission device, and a distance calculated by the distance calculation unit when the determination unit determines that the identification information is from the same transmission device is the measurement distance Generating means for generating result data;

  In the invention of claim 1, the distance measuring system is a system for measuring the distance between the transmitting device and the detecting device. The transmitting device is provided with a wireless tag and a first optical tag. The wireless tag is an RFID, for example, and transmits wireless identification information (wireless ID) wirelessly. The first optical tag is, for example, an infrared tag, and transmits first optical identification information (optical ID) by flashing infrared rays. The wireless tag detection means of the detection device detects the wireless identification information transmitted by the wireless tag and detects the received radio wave intensity. The optical tag detection means of the detection device detects first optical identification information transmitted from the first optical tag. The distance calculation unit, the determination unit, and the generation unit may be provided, for example, in the detection device, or may be provided in an external processing computer that acquires detection data from the detection device. The distance calculation means calculates the distance based on the received radio wave intensity. For example, the radio wave intensity and distance conversion information may be stored in advance, and the distance corresponding to the received radio wave intensity may be calculated based on the conversion information, or a predetermined distance calculation formula may be stored in advance. The distance corresponding to the received radio wave intensity may be calculated according to the calculation formula. The determination unit determines whether the detected wireless identification information and the first optical identification information are identification information from the same transmitter. For example, the wireless identification information of the wireless tag of the same transmitter and the first optical identification information of the first optical tag are set to the same identification information, or set to identification information that is different only in the bit that identifies the type of identification information. It may be done. Or you may memorize | store the information which linked | related the radio | wireless identification information and the 1st optical identification information of the same transmission device by linking | relating with the identification information of a transmission device. When the wireless identification information and the first optical identification information from the same transmission device are detected, it can be seen that there is no shielding object between the detection device and the transmission device. That is, in this case, since it can be determined that the received radio wave intensity is not affected by the shielding object, the distance obtained from the received radio wave intensity has little error and high accuracy. The generation unit generates result data using the distance calculated by the distance calculation unit when the determination unit determines that the identification information is from the same transmission device. Accordingly, since the detection of the first optical tag can identify the time point at which the reception intensity of the radio wave from the wireless tag is not affected by the concealment, the distance between the transmission device and the detection device can be measured with fewer errors.

  The invention of claim 2 is dependent on the invention of claim 1, and further includes reception characteristic storage means for storing reception sensitivity characteristic data indicating a reception sensitivity characteristic of radio waves by the wireless tag detection means. The first optical tag detection means further detects the first direction in which the first optical tag exists. The distance calculation means is based on the reception sensitivity characteristic data corresponding to the first direction detected by the first optical tag detection means and the received radio wave intensity when the determination means determines that the identification information is from the same transmitter. To calculate the distance.

  In the invention of claim 2, the reception characteristic storage means stores the reception sensitivity characteristic of the radio wave by the wireless tag detection means. The reception characteristic storage means may be provided, for example, in the detection device or the external processing computer described above. The first optical tag detection means detects a first direction in which the first optical tag exists. For example, the first optical tag detection means includes an image sensor capable of photographing the infrared rays emitted from the first optical tag, detects the position of the first optical tag on the photographed infrared image, and detects the direction of presence. Since it can be seen from the detection device that the transmitting device, that is, the wireless tag exists in this detection direction, the distance is set in consideration of the reception sensitivity characteristic corresponding to the detection direction of the radio wave by the wireless tag detection means of the detection device. It can be calculated. That is, the distance calculation means calculates the distance based on the reception sensitivity characteristic corresponding to the reception direction and the reception radio wave intensity when the identification information from the same transmission device is detected. Therefore, since the distance can be calculated in consideration of the difference depending on the radio wave reception direction, the accuracy of distance measurement can be further improved.

  The invention of claim 3 is dependent on the invention of claim 2, and the transmitter transmits the second optical identification information transmitted by the second optical tag provided in the detector and the second direction in which the second optical tag exists. It further includes a second optical tag detecting means for detecting, and a first transmitting means for transmitting the second direction detected by the second optical tag detecting means. The detection device further includes a second optical tag that transmits the second optical identification information with light. The distance measuring system further stores first reception means for receiving the second direction of the second optical tag transmitted by the first transmission means, and transmission characteristic data indicating the radio wave transmission characteristics of the wireless tag of the transmitting device. Transmission characteristic storage means is included. The distance calculating means uses the receiving sensitivity characteristic data corresponding to the first direction detected by the first optical tag detecting means and the first receiving means when the determining means determines that the identification information is from the same transmitter. The distance is calculated based on the received transmission characteristic data corresponding to the second direction of the radio wave of the radio tag of the transmitting device and the received radio wave intensity.

  In the invention of claim 3, the detection device is further provided with a second optical tag, and the transmission device is further provided with second optical tag detection means for detecting the second optical tag. The second optical tag detection means detects the second direction in which the second optical tag exists together with the second optical identification information of the second optical tag. The 1st transmission means of a transmitter transmits the 2nd direction of the detected 2nd optical tag. The transmission characteristic storage means stores, for example, the transmission characteristic of the radio wave associated with the wireless tag of the transmission device. The first receiving means receives the second direction of the second optical tag transmitted by the first transmitting means. The first receiving unit and the transmission characteristic storage unit may be provided in, for example, the detection device or the above-described external processing computer. Since the direction in which the second optical tag, i.e., the detection device is present, can be seen from the transmission device, the distance can be calculated by further taking into consideration the transmission characteristics corresponding to the transmission direction of the radio wave of the wireless tag of the transmission device. That is, the distance calculation means calculates the distance based on the reception sensitivity characteristic corresponding to the reception direction, the transmission characteristic corresponding to the transmission direction, and the received radio wave intensity when detecting the identification information from the same transmission device. . Therefore, the distance can be calculated in consideration of the difference depending on the radio wave transmission direction, the individual difference of the wireless tag, and the like, so that the accuracy of distance measurement can be further improved.

  The invention according to claim 4 is dependent on the invention according to claim 2, and the transmitter transmits the second optical identification information transmitted by the second optical tag provided in the detector and the second direction in which the second optical tag exists. Second optical tag detection means for detecting, transmission characteristic storage means for storing transmission characteristic data indicating radio wave transmission characteristics of the radio tag, and transmission characteristic data corresponding to the second direction detected by the second optical tag detection means. Second transmission means for transmitting is further included. The detection device further includes a second optical tag that transmits the second optical identification information with light. The distance measuring system further includes second receiving means for receiving transmission characteristic data corresponding to the second direction transmitted by the second transmitting means. The distance calculating means uses the receiving sensitivity characteristic data corresponding to the first direction detected by the first optical tag detecting means and the second receiving means when the determining means determines that the identification information is from the same transmitter. The distance is calculated based on the received transmission characteristic data corresponding to the second direction and the received radio wave intensity.

  In the invention of claim 4, the detection device is further provided with a second optical tag, and the transmission device is further provided with second optical tag detection means for detecting the second optical tag. The transmission characteristic storage means of the transmitter stores the radio wave transmission characteristics of the wireless tag that it owns. The second optical tag detection means detects the second direction in which the second optical tag exists together with the second optical identification information of the second optical tag. Since the direction in which the second optical tag, that is, the detection device exists, can be seen from the transmission device, the transmission characteristics corresponding to the radio wave transmission direction of the wireless tag of the transmission device can be specified. The second transmission means of the transmission device transmits radio wave transmission characteristic data corresponding to the second direction in which the second optical tag exists. The second receiving means receives the transmission characteristic data corresponding to the second direction transmitted by the second transmitting means. This second receiving means may be provided, for example, in the detection device or the external processing computer described above. Since the transmission characteristic corresponding to the transmission direction of the radio wave of the wireless tag of the transmission device can be acquired, the distance can be calculated in consideration of the transmission characteristic. That is, the distance calculation means calculates the distance based on the reception sensitivity characteristic data corresponding to the reception direction, the transmission characteristic data corresponding to the transmission direction, and the received radio wave intensity when the identification information from the same transmission device is detected. To do. Therefore, the distance can be calculated in consideration of the difference depending on the radio wave transmission direction, the individual difference of the wireless tag, and the like, so that the accuracy of distance measurement can be further improved.

  According to this invention, since the optical tag and the wireless tag are used in combination, it can be confirmed that the received radio wave intensity of the wireless tag is not affected by the concealment by the detection of the optical tag. Therefore, the point in time at which the received radio wave intensity is not affected by the shield or the like can be specified, and the distance between the transmission device and the detection device can be measured with a small error.

  In addition, because the direction in which the other party is present can be recognized by detecting the optical tag, it is possible to receive or receive the radio wave corresponding to the actual direction of the other party by storing or acquiring information on the reception sensitivity characteristics and transmission characteristics of the radio wave. The distance can be calculated based on sensitivity characteristics and transmission characteristics. Therefore, more accurate distance measurement can be performed.

  The above object, other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.

  Referring to FIG. 1, the distance measurement system 10 of this embodiment (first embodiment) includes a transmission device 12 and a detection device 14, and measures the distance between the transmission device 12 and the detection device 14. Is.

  The transmission device 12 includes a wireless tag 16 and an optical tag 18. The wireless tag 16 is an RFID tag, for example. RFID (Radio Frequency Identification) is an automatic recognition technology using a non-contact IC tag using electromagnetic waves. The RFID tag 16 includes an IC chip including an identification information memory, a communication control circuit, and the like, and an antenna. In the memory, tag-specific identification information and the like are stored in advance, and the identification information and the like are output from the antenna at predetermined time intervals by electromagnetic waves and radio waves having a predetermined frequency. The time interval may be changed randomly so that the transmission timing is not always synchronized when there are a plurality of wireless tags 16. The identification information transmitted by the wireless tag 16 is referred to as a wireless ID (wireless identification information).

  The optical tag 18 is an infrared tag, for example, and transmits tag unique identification information by flashing infrared rays. Specifically, the infrared tag 18 includes an infrared LED, a drive circuit (microcomputer), and the like. The drive circuit controls blinking of the infrared LED, and modulates, for example, Manchester encoded identification information into an infrared signal of 200 Hz. Then make a call. The identification information transmitted from the optical tag 18 is referred to as an optical ID (optical identification information). An example of the configuration and operation of the optical tag 18 and an optical tag detection device 20 included in the detection device 14 described later is disclosed in detail in Japanese Patent Application Laid-Open No. 2004-208229 by the applicant of the present application.

  The wireless ID and the optical ID transmitted by the transmission device 12 are associated with each other. For example, the same identification information or identification information that is different only in bits for identifying the wireless type and the optical type is transmitted. Alternatively, table data in which the wireless ID and the optical ID are associated may be stored in the memory of the computer 22 of the detection device 14. Both may be associated by, for example, a transmission device ID. As described above, since the wireless ID and the optical ID of the transmission device 12 are associated with each other, the IDs of the plurality of transmission devices 12 are not confused even if the plurality of transmission devices 12 exist within the detection range of the detection device 14. It is possible to generate and output information including measurement distance and direction.

  The wireless tag 16 and the optical tag 18 of the transmitting device 12 are desirably provided integrally with a tag of the same housing having various shapes such as a label shape and a stick shape. The wireless tag 16 and the optical tag 18 may be formed as separate tags, but in that case, it is desirable that they be attached in a close position by arranging or adjoining them in the same direction.

  The detection device 14 includes a computer 22, a wireless tag detection device 24, an optical tag detection device 20, and the like. These are desirably provided integrally in the same housing, for example. However, these may be formed and connected in separate housings.

  The computer 22 controls the detection device 14 as a whole. The computer 22 includes a CPU, a memory, and the like, and the CPU executes processing based on programs and data stored in the memory. The computer 22 acquires the respective output data from the wireless tag detection device 24 and the optical tag detection device 20 at a measurement timing (detection time) based on an internal timer, for example, and measures the distance. The computer 22 generates measurement result data and stores it in its memory or outputs it to an external computer (PC, data recording server, robot control PC, etc.) via an interface or communication device (not shown).

  The wireless tag detection device 24 is, for example, a wireless tag reader. In this embodiment, output information from the RFID tag 16 is detected. Specifically, the wireless tag detection device 24 includes an antenna, a controller, and the like, and receives a radio wave superimposed with identification information (wireless ID) transmitted from the RFID tag 16 via the antenna. The received radio signal is amplified, the identification information is separated from the radio signal, and the information is demodulated (decoded). In addition, the wireless tag detection device 24 has a function of detecting information related to radio wave reception intensity of the wireless tag 16. The radio tag reader 24 may detect, for example, the received radio wave intensity itself as the received radio wave intensity information, or detect the reception sensitivity that distinguishes whether the radio tag 16 is detected by sensitivity switching. May be. The wireless tag detection device 24 provides detection data including the detected wireless ID and radio wave reception intensity information to the computer 22. As will be described later, the computer 22 detects the distance between the transmission device 12 (wireless tag 16) and the detection device 14 (wireless tag detection device 24) based on the received radio wave intensity information from the wireless tag detection device 24. .

  The optical tag detection device 20 includes, for example, an infrared camera, and detects infrared rays transmitted from the infrared tag 18. The infrared camera includes, for example, an infrared filter, a lens, a CMOS image sensor, and the like. The CMOS image sensor takes an infrared image at a frame rate (400 Hz), for example, twice that of the infrared tag 18 and outputs the image data to the computer 22. The angle of view of the lens is, for example, 90 degrees, and the resolution of the image sensor is, for example, 128 × 128 pixels. As will be described later, the computer 22 detects the infrared tag 18 from the acquired infrared image, detects the optical ID from the blinking state of the detected infrared tag 18, and detects the XY coordinates of the infrared tag 18 on the infrared image. . The computer 22 stores, for example, angle information per pixel determined by the image size and the angle of view in a memory in advance, so that the two-dimensional relative of the transmitting device 12 (optical tag 18) can be determined from the XY coordinates on the image. Direction can be detected.

  In this embodiment, an infrared LED is used for the optical tag 18, and a camera capable of taking an infrared image is used for the optical tag detection device 20, but a visible light LED is used for the optical tag 18, and the optical tag is used. A camera capable of capturing a visible light image may be used as the detection device 20.

  FIG. 2 shows an example of a memory map of the memory of the computer 22 of the detection device 14. However, FIG. 2 shows only a part of the data storage area 30 of the memory.

  In the radio wave intensity / distance conversion table data area, table data for converting radio wave intensity into distance is stored in advance. In this data, the received radio wave intensity is stored in association with the distance at which the intensity is detected. With reference to this data, a distance corresponding to the detected received radio wave intensity is detected. If the strength is not registered in the table data, the distance is calculated by interpolation. This table data is created in advance by actual measurement using the wireless tag 16 and the wireless tag detection device 24. The distance may be calculated according to a predetermined relational expression (distance calculation expression) based on the received radio wave intensity.

  The detected wireless ID area acquired from the wireless tag detection device 24 is stored in the detected wireless ID area. In the detected radio wave intensity area, the received radio wave intensity information of the radio tag 16 acquired from the radio tag detection device 24 is stored in association with the radio ID.

  In the detection image data area, image data acquired from the optical tag detection device 20, that is, infrared image data for a predetermined frame is stored. In the detection optical ID area, the optical ID of the infrared tag 18 detected by the image processing of the infrared image data is stored. In the detection direction area, the XY coordinates of the infrared tag 18 on the detected image are stored in association with the optical ID. In addition, the two-dimensional relative direction of the optical tag 18 calculated from the XY coordinates and the angle information per pixel, for example, the angle of deviation from the image center (image sensor axial direction) is associated with the optical ID. Is remembered.

  The result data area stores data indicating a detection result including an ID (wireless ID or optical ID) detected at a detection time, distance information such as measurement distance and reference information, and direction information.

  FIG. 3 shows the concept of distance measurement in this distance measurement system. If there is no shielding object between the detection device 14 and the transmission device 12, the optical ID from the optical tag 18 is detected by the optical tag detection device 20, as shown in FIG. As described above, when the optical ID is detected by the detection device 14, the received radio wave intensity of the wireless tag 16 detected by the wireless tag detection device 24 is not affected by the shielding object and is predicted according to the distance. It can be determined that the attenuation is close to the value. Therefore, when the optical ID and the wireless ID of the same transmitter 12 are detected, the distance obtained from the received radio wave intensity of the wireless tag 16 detected by the wireless tag detector 24 is highly accurate and has few errors. I understand. In this way, it is possible to specify the time when the distance can be measured with high accuracy. Therefore, result data with the distance calculated in this case as the measurement distance is generated and stored or output.

  On the other hand, when a shielding object exists between the detection device 14 and the transmission device 12, the optical tag detection device 20 cannot detect the optical ID as shown in FIGS. 3B and 3C. In this case, since the manner of attenuation of the radio wave differs depending on the shield, the distance obtained from the received radio wave intensity has a large error. Since it is not known what the shielding object is, for example, a sheet of paper or a human body that absorbs a large amount of radio waves, it is impossible to grasp the degree of radio wave attenuation. Therefore, when the optical ID cannot be detected by the detection device 14, the accurate distance cannot be known from the received radio wave intensity of the wireless tag 14 detected by the wireless tag detection device 24. In this case, the distance obtained from the received radio wave intensity may be stored or output as reference information with low accuracy instead of a formal measurement distance.

  Further, when only the optical ID is detected by the detection device 14 and no wireless ID is detected, the transmission device 12 is outside the detectable distance range of the wireless tag detection device 24, and thus the distance cannot be measured. In this case, together with the detected direction, information indicating that the distance is simply far (long distance information) is stored or output as reference information. For example, information that is greater than the value of the maximum detectable distance of the wireless tag detection device 24 stored in advance may be used as reference information.

  FIG. 4 shows an example of the measurement processing operation of the computer 22 of the detection apparatus 14. The CPU of the computer 22 executes this measurement process, for example, every elapse of a certain time or at a desired measurement timing. When the process starts, first, in step S1, the output data (detection data) is acquired from the wireless tag detection device 24 in the memory. Next, in step S3, it is determined whether or not the presence of the wireless tag 16 is detected. Specifically, it is determined whether or not the wireless ID is included in the detection data of the wireless tag detection device 24. If “YES” in the step S3, a wireless ID is acquired from the detected data in a step S5 and stored in the detected wireless ID area of the memory. Subsequently, in step S7, the received radio wave intensity information is detected from the detection data and stored in the detected radio wave intensity area of the memory in association with the radio ID of the radio tag 16. In step S9, the distance is calculated from the received radio wave intensity for each detected radio ID based on the radio wave intensity / distance conversion table data and the detected received radio wave intensity information, and stored in a predetermined area of the memory.

  If step S9 is completed or if “NO” in the step S3, image data (infrared image data) is acquired from the optical tag detection device 20 in a step S11 and stored in the detected image data area of the memory. In step S13, it is determined whether the presence of the optical tag 18 is detected. For example, it is determined whether or not a light spot of a predetermined size (for example, 1 pixel) indicating the infrared tag 18 is detected from the infrared image. If “YES” in the step S13, the optical ID is detected by detecting the blinking state of the infrared tag 18 in a step S15 and stored in the detected optical ID area of the memory. In step S17, the XY coordinates (direction) of the infrared tag 18 on the infrared image are detected and stored in the detection direction area of the memory in association with the optical ID of the optical tag 18. For example, an angle of deviation from the center of the image may be calculated based on angle information per pixel from the XY coordinates, and the angle may be stored in the memory as direction data of the optical tag 18.

  If step S17 ends or if “NO” in the step S13, it is determined in a step S19 whether or not an ID from the same transmitter 12 exists based on the detected wireless ID data and the detected optical ID data. . For example, it is determined whether or not the associated wireless ID and optical ID are detected. If “YES” in the step S19, the distance calculated in the step S9 is highly accurate. Therefore, in step S21, result data having the distance as a measurement distance is generated. That is, in step S21, detection result data including the corresponding ID (wireless ID, optical ID, transmission device ID, etc.), direction, and the distance calculated in step S9 is generated and stored in the result data area of the memory. At the same time, for example, the detection result data is output (transmitted) to an external computer or the like.

  If step S21 ends or if “NO” in step S19, it is determined in step S23 whether or not there is a transmitting device 12 in which only the wireless tag 16 is detected based on the detected wireless ID data and the detected optical ID data. Determine whether. If “YES” in the step S23, the distance calculated in the step S9 is not accurate, and thus result data using the distance as reference information is generated in a step S25. That is, in step S25, detection result data including a corresponding ID (such as a wireless ID or a transmission device ID) and a distance to which information indicating low accuracy is added is generated and stored in a result data area of the memory. For example, the detection result data is output (transmitted) to an external computer or the like.

  If step S25 is completed or if “NO” in the step S23, whether or not there is the transmitting device 12 in which only the optical tag 18 is detected based on the detected wireless ID data and the detected optical ID data in a step S27. Determine whether. If “YES” in the step S27, detection result data including a corresponding ID (such as an optical ID or a transmitter ID), a direction, and long-distance information is generated and stored in a result data area of the memory in a step S29. In addition, for example, the detection result data is output (transmitted) to an external computer or the like. If step S29 ends or if “NO” in step S27, the measurement process ends.

  According to this embodiment, since the optical tag 18 and the wireless tag 16 are used in combination, when the optical ID and the wireless ID of the same transmitter 12 are detected at the same time, the received radio wave of the wireless tag 16 is received. It can be recognized that the strength is not affected by concealment of a shielding object or the like. Therefore, the distance between the transmission device 12 and the detection device 14 can be measured with a small error. Further, since the direction can also be detected, the accurate position of the transmission device 12 viewed from the detection device 14 can be measured.

  In the above-described embodiment, the radio wave reception characteristic of the wireless tag detection device 24 is treated as a difference in direction can be ignored. However, radio wave reception characteristics may be considered as in another embodiment (second embodiment) described below. In this case, distance measurement and relative position measurement with higher accuracy can be performed.

  The configuration of the distance measurement system 10 of the second embodiment is the same as that of the first embodiment, and a duplicate description is omitted. In the data storage area 30 of the memory of the computer 22 of the detection device 14, as shown in FIG. 5, the radio wave reception sensitivity characteristic data of the antenna of the wireless tag detection device 24 is stored in advance. As shown in FIG. 6, the reception sensitivity characteristic indicates a difference in reception sensitivity depending on the direction (angle shift) from the center of the antenna (indicated by a broken line). In this reception sensitivity characteristic data, for example, a reception sensitivity characteristic value associated with the direction from the center of the antenna is stored. For example, in the case of a coil-type planar antenna, the reception sensitivity in the vertical direction of the coil surface (antenna surface) is the best, and the reception sensitivity becomes worse as it approaches the horizontal direction. Therefore, even if the radio waves are received with the same strength, the actual distance differs if the direction in which the source exists, that is, the reception direction, is different. Even if the reception intensity is the same, the transmission device 12 exists farther away as the detection direction is closer to the vertical direction of the coil surface, and closer to the horizontal direction.

  In the radio wave intensity and distance conversion table data stored in the memory, for example, data measured when radio waves are received from the antenna center direction is stored. Therefore, the accuracy of the measured distance can be improved by correcting the detected received radio wave intensity to the intensity considering the reception direction based on the reception sensitivity characteristic value corresponding to the radio wave reception direction.

  Since the detection device 14 can detect the direction of the optical tag 18 of the transmission device 12, the detection direction of the optical tag 18 is used as a radio wave reception direction. Therefore, in the detection device 14, as shown in FIG. 7, for example, the center direction (antenna surface vertical direction) axis (indicated by a broken line arrow) of the antenna 24 a of the RFID tag detection device 24 and the image sensor of the optical tag detection device 20. The (lens) center direction axis (shown by a broken line arrow) is set to be the same or substantially the same. In this case, as shown in FIG. 8, the direction or XY coordinates (Xr, Yr) of the optical tag 18 of the transmitting device 12 detected by the detecting device 14 is received from the wireless tag 16 of the transmitting device 12. Can be used as direction. In FIG. 8, the broken line extending from the detection device 14 indicates the center direction of the antenna 24 a of the wireless tag detection device 24 and the center direction of the image sensor of the optical tag detection device 20.

  FIG. 9 shows a part of the operation of the computer 22 of the detection device 14 of the second embodiment. Since only the distance measurement process when the ID of the same transmission device 12 is detected is different from the first embodiment, only this part is shown in FIG. The other parts are the same as in FIG.

  If “YES” in the step S19, a reception characteristic value in the detection direction is acquired in a step S41 of FIG. 9 based on the detection direction data and the reception sensitivity characteristic data of the corresponding optical ID. Subsequently, in step S43, the distance is calculated based on the reception characteristic value and the received radio wave intensity. Specifically, a distance corresponding to the received radio wave intensity corrected by the reception characteristic value is calculated based on radio wave intensity and distance conversion table data. Since the calculated distance is highly accurate, result data with the distance as a measurement distance is generated. That is, in step S21, detection result data including the corresponding ID (wireless ID, optical ID, transmission device ID, etc.), the direction detected in step S17, and the distance calculated in step S43 is generated and stored in the memory. And output. In this way, a more accurate distance can be measured.

  Further, in each of the above-described embodiments, the radio wave transmission characteristics of the wireless tag 16 are handled such that differences between individuals and differences due to directions can be ignored. However, radio wave transmission characteristics may be taken into consideration, as in the following other embodiments (third and fourth embodiments).

  As shown in FIG. 10, the optical tag 40 is provided in the detection device 14 and the optical tag detection device 42 is provided in the transmission device 12 in order to consider the radio wave characteristics on the transmission side. The detection device 12 is further provided with a communication device 44, and the computer 22 communicates with the transmission device 12 using the communication device 44.

  On the other hand, the transmitter 12 is further provided with a computer 46 and a communication device 48. The computer 46 includes a CPU, a memory, and the like, similar to the computer 22 of the detection device 14, and the CPU executes processing based on programs and data stored in the memory. The computer 46 processes the detection data from the optical tag detection device 42 in the same manner as the computer 22 of the detection device 14 to detect the optical ID and direction of the optical tag 40. Further, the computer 46 communicates data with the detection device 14 using the communication device 48. The communication device 44 and the communication device 48 communicate with each other by radio or light.

  As shown in FIG. 11, in the detection device 14, the infrared LED 40 a of the optical tag 40 includes the central direction axis of the image sensor of the optical tag detection device 20 (indicated by a broken line arrow) and the central direction axis of the antenna 24 a of the wireless tag detection device 24. It is provided so as to emit light in the same direction as (broken line arrow display). Although illustration is omitted, in the transmitting device 12, as in the detection device 14, the central direction axis of the antenna of the wireless tag 16 and the central direction axis of the image sensor of the optical tag detection device 42 are the same or substantially the same. And the optical tag 18 is also provided so as to emit light in the same direction.

  As shown in FIG. 12, the direction or XY coordinates (Xr, Yr) of the optical tag 18 of the transmission device 12 detected by the detection device 14 is represented by the wireless tag 16 of the transmission device 12 as in the second embodiment. It can be used as the receiving direction of radio waves from. Furthermore, the direction or XY coordinates (Xs, Ys) of the optical tag 40 of the detection device 14 detected by the transmission device 12 can be used as the radio wave transmission direction of the wireless tag 16 of the transmission device 12. In addition, the broken line extended from the detection apparatus 14 in FIG. 12 shows the center direction of the antenna 24a of the wireless tag detection apparatus 24, and the center direction of the image sensor of the optical tag detection apparatus 20. A broken line extending from the transmission device 12 indicates the center direction of the antenna of the wireless tag 16 and the center direction of the image sensor of the optical tag detection device 42.

  In this way, by detecting the optical tag 40 of the detection device 14 with the optical tag detection device 42 of the transmission device 12, the two-dimensional relative direction of the detection device 14 viewed from the transmission device 12 can be detected. Therefore, it is possible to perform distance measurement in consideration of a difference depending on the direction of radio wave transmission characteristics of the wireless tag 16 of the transmission device 12. Therefore, the accuracy of the measurement distance can be further improved. In addition, the types of antennas that can be selected can be expanded, that is, a more accurate distance can be measured using antennas having different characteristics depending on directions.

  In order to consider the transmission characteristics, in the third embodiment, the detection device 14 holds the transmission characteristic information of the radio wave of the wireless tag 16 of the transmission device 12. FIG. 13 shows a part of the memory map of the memory of the computer 22 of the detection device 14. As shown in FIG. 13, in the data storage area 30 of the memory of the computer 22, radio wave reception sensitivity characteristic data of the radio tag detection device 24 is stored in advance, and radio wave transmission of the radio tag 16 of the transmission device 12 is transmitted. The characteristic data is stored in advance in association with, for example, the transmitting device ID that owns the wireless tag 16. As shown in FIG. 14, the transmission characteristics indicate a difference in transmission intensity depending on the direction (angle shift) from the center of the antenna (shown by a broken line). In this transmission characteristic data, for example, a transmission characteristic value associated with the direction from the center of the antenna is stored. In addition, when radio wave transmission characteristic data for each transmitting device 12 (wireless tag 16) is stored, the individual difference of the wireless tag 16 can be taken into consideration, so that the accuracy of the measurement distance can be further improved.

  The data storage area 30 stores in advance an optical ID transmitted from the optical tag 40 owned by the detection device 14. Further, the data storage area 30 is also provided with a reception data area for storing data received from the transmission device 12 via the communication device 44.

  FIG. 15 shows an example of a memory map of the memory of the computer 46 of the transmission device 12. However, FIG. 15 shows only a part of the data storage area 50 of the memory. Image data acquired from the optical tag detection device 42 is stored in the detection image data area. The optical ID of the infrared tag 40 detected from the infrared image is stored in the detection optical ID area. In the detection direction area, the XY coordinates of the infrared tag 40 on the detected image are stored in association with the optical ID. Also, the deviation of the optical tag 40 from the two-dimensional relative direction, for example, the image center (image sensor axial direction), calculated from the angle information per pixel stored in advance in the memory and the detected XY coordinates. The angle is stored in association with the optical ID. The data storage area 50 stores in advance a transmission device ID indicating identification information of the own transmission device 12. The transmitting device ID may be, for example, the same ID as the wireless ID and optical ID of the tag that is owned, or an ID that differs only in the bit that identifies the type of identification information. Alternatively, when table data that associates the transmission device ID, the wireless ID, and the optical ID is stored in the memory of the detection device 14 in advance, an ID different from the tag ID (wireless ID, optical ID) may be set.

  When the computer 46 of the transmission device 12 detects the optical tag 40 of the detection device 14 based on the detection data of the optical tag detection device 42, for example, data including the detected optical ID, the detection direction, and its transmission device ID is obtained. Transmission is performed using the communication device 48.

  The computer 22 of the detection device 14 receives data from the transmission device 12 via the communication device 44, for example. Since the received data includes the optical ID of the optical tag 40 of the detecting device 14 detected by the transmitting device 12, the computer 22 of the detecting device 14 determines in advance whether or not the received data is data addressed to itself. The determination can be made based on the stored optical ID of the owned optical tag 40. Further, since the reception data includes the detection direction and the transmission device ID, the computer 22 of the detection device 14 corresponds to the detection direction from the transmission characteristic data of the wireless tag 16 of the transmission device 12 corresponding to the transmission device ID. A transmission characteristic value can be acquired. Therefore, since the distance can be calculated by taking into account the direction difference of the radio wave transmission characteristic of the wireless tag 16 and the individual difference of the wireless tag 16 by this transmission characteristic value, the accuracy of distance measurement can be further improved. . Further, a more accurate relative position of the transmission device 12 as viewed from the detection device 14 can be measured.

  FIG. 16 shows an example of the operation of the computer 46 of the transmission device 12. The computer 46 executes the processing of FIG. 16 based on an internal timer, for example, at the elapse of a fixed time or at a desired detection timing. When the process is started, first, in step S61, image data (infrared image data for a predetermined frame) is acquired from the optical tag detection device 42, and stored in the detected image data area of the memory. Next, in step S63, it is determined whether or not the presence of the optical tag 40 is detected from the infrared image. If “YES” in the step S63, the optical ID is detected and stored in the detected optical ID area of the memory in a step S65. In step S67, the XY coordinates (direction) of the infrared tag 40 are detected and stored in the detection direction area of the memory in association with the optical ID. Alternatively, for example, an angle of deviation from the image center may be calculated based on angle information per pixel from the XY coordinates, and this angle may be stored in the memory as direction data of the optical tag 40. In step S69, data including the detected optical ID, detection direction, and own transmitter ID is generated, and this data is transmitted using, for example, the communication device 48. If step S69 ends or if “NO” in the step S63, the process is ended.

  FIG. 17 shows a part of an example of the operation of the computer 22 of the detection device 14. The first embodiment shown in FIG. 4 is different from the processing for receiving transmission characteristic related information from the transmitting device 12 and the distance measurement processing when the ID of the same transmitting device 12 is detected. 17 shows. Other parts are the same as those in FIG. 4 or FIG.

  For example, if step S17 ends or if “NO” in the step S13, the received data is obtained from the communication device 44 and stored in the received data area of the memory in a step S81 of FIG. Next, in step S83, it is determined whether or not the received data is data addressed to itself. Specifically, the optical ID is extracted from the received data, and it is determined whether or not the optical ID is the same as the optical ID of the owned optical tag 40 stored in the memory. If “YES” in the step S83, the transmitting device ID and the detection direction are acquired from the received data in a step S85, and stored in a predetermined area of the memory.

  If step S85 ends or if “NO” in the step S83, it is determined in a step S19 whether or not an ID from the same transmission device 12 exists based on the detected wireless ID data and the detected optical ID data. To do. If “YES” in the step S19, a reception characteristic value in the detection direction is acquired in a step S41 based on the reception sensitivity characteristic data and the detection direction data of the optical ID.

  In step S87, it is determined whether the ID determined as the ID from the same transmitter 12 in step S19 is an ID corresponding to the transmitter ID received in step S85. For example, it is determined whether the optical ID or the wireless ID from the same transmitter 12 is the same ID as the transmitter ID, or whether only the identification bit is different. Alternatively, it is determined whether or not the transmission table ID is associated with the association table data. If “YES” in the step S87, a transmission characteristic value corresponding to the detection direction received from the transmitting device 12 is acquired from the transmission characteristic data corresponding to the transmitting device ID in a step S89. In step S91, the distance is calculated based on the reception characteristic value, the transmission characteristic value, and the reception radio wave intensity. Specifically, the received radio wave intensity is corrected based on the reception characteristic value and the transmission characteristic value, and the distance corresponding to the corrected received radio wave intensity is calculated based on the radio wave intensity / distance conversion table data. Since this calculated distance is more accurate, in the next step S21, result data with the distance as a measurement distance is generated.

  On the other hand, if “NO” in the step S87, the transmission characteristic related information (direction) has not been received for the ID, the distance is calculated in a step S43 based on the reception characteristic value and the received radio wave intensity. Since the calculated distance is also highly accurate as described above, result data with the distance as a measured distance is generated in the next step S21.

  When step S91 is finished or step S43 is finished, in step S21, the corresponding ID (wireless ID, optical ID or transmitter ID, etc.), direction (direction detected in step S17 and direction detected in step S85), And detection result data including the distance (the distance calculated in step S91 or the distance calculated in step S43), stored in a memory, and output to an external computer or the like. If step S21 ends or if “NO” in the step S19, the process proceeds to a step S23.

  In the third embodiment described above, the detection device 14 has the transmission characteristic data of the radio wave of the wireless tag 16 of the transmission device 12 to transmit information on the transmission direction from the transmission device 12. However, as in the fourth embodiment described below, the transmitting device 12 may have the radio wave transmission characteristic data of the wireless tag 16 and transmit the transmission characteristic value corresponding to the transmission direction to the detection device 14. Good.

  That is, as shown in FIG. 18, the data storage area 50 of the memory of the computer 46 of the transmitting device 12 further stores radio wave transmission characteristic data of the wireless tag 16 that it owns. When the computer 46 detects the optical tag 40 of the detection device 14, the computer 46 acquires a transmission characteristic value corresponding to the detection direction from the transmission characteristic data. Then, the computer 46 transmits data including the detected optical ID, transmission characteristic value, and own transmitter ID to the detector 14 via the communication device 48, for example.

  When the computer 22 of the detection device 14 receives data from the transmission device 12 via the communication device 44, for example, as in the third embodiment described above, the computer 22 detects the data based on the optical ID of the optical tag 40 included in the reception data. It is determined whether the received data is data addressed to itself. Furthermore, since the reception data includes the transmission characteristic value and the transmission device ID, the computer 22 of the detection device 14 considers the direction difference or individual difference of the radio wave transmission characteristic of the wireless tag 16 based on the transmission characteristic value. Can be calculated. Therefore, the accuracy of distance measurement can be further improved as in the third embodiment.

  FIG. 19 shows an example of the operation of the computer 46 of the transmission device 12. Note that the same processes as those in the third embodiment shown in FIG. 16 are denoted by the same reference numerals, and redundant description is omitted. When step S67 ends, in step S101, the transmission characteristic value corresponding to the detection direction of the optical tag 40 of the detection device 14 detected in step S67 is determined from the radio wave transmission characteristic data of the wireless tag 16 stored in the memory. get. In step S103, data including the detected optical ID, transmission characteristic value, and own transmission device ID is generated and transmitted via the communication device 48, for example. If step S103 is ended or if “NO” in the step S63, the process is ended.

  FIG. 20 shows a part of an example of the operation of the computer 22 of the detection device 14. The same processes as those in the third embodiment shown in FIG. 17 are denoted by the same reference numerals, and redundant description is omitted. If “YES” in the step S83, the transmitting device ID and the transmission characteristic value are acquired from the received data in a step S111 and stored in a predetermined area of the memory.

  If “YES” in the step S87, a distance is calculated in the next step S91 based on the reception characteristic value acquired in the step S41, the transmission characteristic value acquired in the step S111, the received radio wave intensity, and the conversion table data. To do. Since the calculated distance is more accurate, in the next step S21, result data with the distance as a measurement distance is generated in the same manner as described above. On the other hand, if “NO” in the step S87, since the transmission characteristic related information (transmission characteristic value) is not received for the ID, in the same manner as described above in the step S43, based on the reception characteristic value and the received radio wave intensity. To calculate the distance.

  In the third and fourth embodiments described above, the transmission device 12 is provided with the communication device 48, and the detection device 14 is provided with the communication device 44, so that transmission characteristic-related information (optical ID, detection direction or transmission) is provided. However, in another embodiment, this transmission characteristic-related information is superimposed on the signal of the optical tag 18 or the wireless tag 16 and transmitted, and the optical tag detection device 20 is transmitted. Alternatively, transmission characteristic related information may be detected from a signal received by the wireless tag detection device 24.

  Further, in each of the above-described embodiments, the computer 22 is provided in the detection device 14, and the computer 22 calculates and outputs the distance based on the received radio wave intensity, the reception characteristic value, the transmission characteristic value, or the like. . However, in another embodiment, a processing computer is provided outside the computer 22 of the detection device 14, and the processing computer acquires necessary data from the detection device 14 or the transmission device 12 and executes the computer 22. Processing such as calculation of the distance and output of the detection result may be executed. In this case, the processing computer detects the data including the optical ID and direction detected by the computer 22 from the detection data of the wireless tag detection device 24 including the wireless ID and the received radio wave intensity from the detection device 14 and the detection data of the optical tag detection device 20. Data is acquired, distance is calculated, result data including ID, direction, and distance information is generated, and the result data is stored in a memory or the like, or output to an external computer or the like.

  The processing computer may store the reception characteristic data in the memory, and calculate the distance in consideration of the reception characteristic value corresponding to the detection direction of the optical tag 18 acquired from the detection device 14. The processing computer stores transmission characteristic data in the memory, acquires the detection direction of the optical tag 40 directly from the transmission device 12 or from the detection device 14, and transmits the transmission characteristic value corresponding to the acquired detection direction. The distance may be calculated in consideration of Further, the processing computer acquires a transmission characteristic value corresponding to the detection direction of the optical tag 40 directly from the transmission device 12 or from the detection device 14, and calculates the distance in consideration of the acquired transmission characteristic value. Also good.

  This distance measurement system 10 can be used in a communication robot 100 as shown in FIG. 21, for example. In the embodiment of FIG. 21, the detection device 14 is mounted on the communication robot 100, and the transmission device 12 that transmits the identification information of the person 102 is attached to the person 102 who is a communication partner.

  The communication robot 100 has a function of autonomously moving and communicating with a communication partner such as a human 102 using speech or body movement. As the communication robot 100, for example, Roboby (registered trademark) developed by the present applicant can be used.

  FIG. 22 shows an example of the electrical configuration of the communication robot 100. The communication robot 100 includes a CPU 104 that controls the overall operation. The CPU 104 is also referred to as a microcomputer or a processor, and is connected to the memory 108, the motor control board 110, the sensor input / output board 112, and the audio input / output board 114 via the bus 106.

  The memory 108 includes a ROM, an HDD, a RAM, and the like. The ROM and HDD store control programs and data in advance, and the RAM is used as a work memory or a buffer memory.

  The motor control board 110 is configured by a DSP, for example, and controls the driving of each axis motor of the joint in each part such as the right arm, the left arm, the head, and the eyeball. That is, the motor control board 110 receives the control data from the CPU 104 and controls the rotation angles of the two right eyeball motors 116 that control the angles of the two axes of the right eyeball part. Similarly, two left eye motors 118 that control the two axis angles of the left eyeball part, four right arm motors 120 that control the three axis angles of the right shoulder joint and the one axis angle of the right elbow joint, the left shoulder joint Four left arm motors 122 that control the angle of the three axes and one axis of the left elbow joint, three head motors 124 that control the angle of the three axes of the neck joint, and a waist motor 126 that adjusts the height of the back The rotation angle of each is controlled. Further, the motor control board 110 receives control data from the CPU 104 and controls the rotation angles of the two wheel motors 128 that respectively drive the two wheels for movement and turning. For the motors other than the wheel motor 128, a stepping motor or a pulse motor may be used in order to simplify the control, or a DC motor may be used similarly to the wheel motor 128.

  Similarly, the sensor input / output board 112 is also constituted by a DSP, and takes in signals from each sensor and gives them to the CPU 104. That is, a video signal from the omnidirectional camera 130 that captures the entire periphery is subjected to predetermined processing by the sensor input / output board 112 as necessary, and then input to the CPU 104. Similarly, the video signal from the eye camera 132 attached to both eyes is also input to the CPU 104. Similarly, a signal from a plurality of touch sensors 134 provided in each part such as the head, shoulder, chest, arm, and hand, and a signal from the collision sensor 136 for detecting a collision of the carriage are also sent to the CPU 104. Given.

  The voice input / output board 114 is also configured by a DSP, and a voice or voice according to voice synthesis data given from the CPU 104 is outputted from the speaker 138. Also, voice input from the microphone 140 is taken into the CPU 104 via the voice input / output board 114.

  The detection device 14 is also connected to the CPU 104 via a general-purpose interface or the like. CPU104 acquires the detection result data from the detection apparatus 14, for example for every fixed time progress or a required timing.

  In this communication robot 100, based on the ID, distance, direction, and the like included in the detection result data acquired from the detection device 14, for example, the communication robot 100 can search for and move the person 102 holding the transmission device 12, or the person 102 It is possible to communicate while keeping the relative position and distance between and the proper state. In order to maintain an appropriate distance and relative position, for example, detection result data is acquired from the detection device 14 at any time during communication execution. Since the measurement distance when both the optical ID and the wireless ID of the transmission device 12 are detected by the detection device 14 is high accuracy, when both IDs are detected, the measurement distance and the appropriate distance stored in advance The wheel motor 128 is controlled so as to move by the difference of, and the wheel motor 128 is controlled so as to turn only by the difference between the detected direction and the appropriate direction stored in advance. As described above, by applying the distance measurement system 10 to the communication robot 100, it is possible to appropriately maintain the relative position and distance from the person 102 in communication, so that the person 102 feels uncomfortable or uncomfortable. Smooth communication behavior can be executed without any problems.

  The distance measurement system 10 can be used in a communication robot control system 150 as shown in FIG. 23, for example. In the embodiment of FIG. 23, a plurality of detection devices 14 are arranged at predetermined positions in a predetermined space or environment 152, respectively. On the other hand, the communication device 100 and the human 102 are each provided with a transmission device 12. Communication robot control system 150 also includes a robot control server 154 that transmits command data for controlling the operation of communication robot 100. The robot control server 154 and the communication robot 100 communicate with each other via, for example, a wireless LAN. Further, the robot control server 154 communicates with each of the plurality of detection devices 14 and acquires each detection result data. The robot control server 154 and the plurality of detection devices 14 also communicate via, for example, a wireless LAN. A communication device 156 is provided in each detection device 14 for communication with the robot control server 54.

  The robot control server 154 stores coordinate data indicating the position coordinates (X, Y) in the environment 152 of each detection device 14 in advance in its memory. For example, the robot control server 154 acquires detection result data from each detection device 14 at every predetermined time or at a necessary timing, and the ID, direction, and high-precision distance included in the acquisition data, and the coordinates of the detection device 14 From the data, the position coordinates of the communication robot 100 and the human 102 in the environment 152 are calculated. When both the optical ID and the wireless ID of the transmission device 12 are detected by the detection device 14, a highly accurate distance can be measured, so that a highly accurate position coordinate can be calculated. Then, the relative position and distance between the communication robot 100 and the human 102 can be accurately calculated from the calculated position coordinates. The robot control server 154 creates and transmits operation instruction data for the communication robot 100 based on the calculated position coordinates, relative position, and distance. The communication robot 100 receives the operation instruction data and operates according to the operation instruction data.

  For example, the communication robot 100 can move in front of the human 102 who is the communication target, as well as the relative position and distance from the human 102, as in the embodiment of FIG. You can communicate while keeping the right. Further, the communication robot 100 can change the way of communication according to the relative position and distance. For example, when it is determined that the human 102 is within the reach of the right arm when viewed from the communication robot 100, the robot control server 154 displays the motion instruction data that does not move the right arm or the trajectory that the right arm does not hit the human 102. The operation instruction data corrected so as to move can be generated and transmitted to the communication robot 100. Thus, by applying the distance measurement system 10, it is possible to realize the communication robot control system 150 that causes the communication robot 100 to execute an appropriate communication action based on a highly accurate measurement distance.

  The distance measurement system 10 can also be applied to a system that records how visitors view the exhibits, for example, at exhibitions or museums. In this case, the transmission device 12 is attached to each visitor. The detection device 14 is installed in the vicinity of the exhibit and is connected to the data recording device. Then, the data recording device acquires the detection result data from the detection device 14 and stores the ID, direction, distance, etc. in association with the detection time. In this way, by applying the distance measurement system 10, it is possible to more accurately record how the visitors viewed the exhibit based on the high-precision measurement distance. Information such as the approaching direction, approaching speed, staying time and staying position for the exhibit can be acquired.

It is a block diagram which shows the distance measurement system of 1st Example of this invention. It is an illustration figure which shows a part of example of the memory map of the memory of the computer of the detection apparatus of FIG. 1 Example. FIG. 3A is a diagram illustrating the concept of distance measurement, FIG. 3A shows a case where a shielding object is not interposed, FIG. 3B shows a case where a shielding object having a small influence is interposed, and FIG. Indicates a case where a shield with a large influence is interposed. It is a flowchart which shows an example of the operation | movement of the measurement process of the computer of the detection apparatus of FIG. 1 Example. It is an illustration figure which shows a part of memory map of the computer of the detection apparatus in the distance measurement system of 2nd Example of this invention. It is an illustration figure which shows the receiving sensitivity characteristic of the radio | wireless tag detection apparatus of 2nd Example. It is an illustration figure which shows the external appearance of the detection apparatus of 2nd Example, and shows the relationship between an image sensor axial direction and the antenna center direction of a wireless tag detection apparatus. It is an illustration figure for demonstrating the distance measurement method of 2nd Example. It is a flowchart which shows a part of operation | movement of the computer of the detection apparatus of 2nd Example. It is a block diagram which shows the distance measurement system of 3rd Example of this invention. FIG. 11 is an illustrative view showing an external appearance of the detection device of the embodiment in FIG. 10, and is an illustrative view showing a relationship between an image sensor axial direction and a vertical direction of an antenna surface of the wireless tag detection device. It is an illustration figure for demonstrating the distance measurement method of FIG. 10 Example. It is an illustration figure which shows a part of memory map of the computer of the detection apparatus of FIG. 10 Example. It is an illustration figure which shows the transmission characteristic of the radio | wireless tag of the transmission device of FIG. 10 Example. It is an illustration figure which shows a part of memory map of the computer of the transmitter of FIG. It is a flowchart which shows an example of operation | movement of the computer of the transmitter of FIG. 10 Example. It is a flowchart which shows a part of operation | movement of the computer of the detection apparatus of FIG. 10 Example. It is an illustration figure which shows a part of memory map of the computer of the transmitter in the distance measuring system of 4th Example of this invention. It is a flowchart which shows an example of operation | movement of the computer of the transmitter of 4th Example. It is a flowchart which shows a part of operation | movement of the computer of the detection apparatus of 4th Example. It is an illustration figure which shows the outline of an example of the communication robot system to which the distance measurement system of this invention is applied. It is a block diagram which shows an example of the communication robot of FIG. It is an illustration figure which shows the outline of an example of the communication robot control system to which the distance measurement system of this invention is applied.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Distance measuring system 12 ... Transmission apparatus 14 ... Detection apparatus 16 ... Wireless tag 18, 40 ... Optical tag 20, 42 ... Optical tag detection apparatus 22, 46 ... Computer 24 ... Wireless tag detection apparatus 44, 48 ... Communication apparatus

Claims (4)

A distance measurement system that includes a transmission device and a detection device, and measures a distance between the transmission device and the detection device,
The transmitting device is
A wireless tag for wirelessly transmitting wireless identification information; and a first optical tag for transmitting first optical identification information by light;
The detection device includes:
Wireless tag detection means for detecting the wireless identification information and the received radio wave intensity transmitted by the wireless tag, and first optical tag detection means for detecting the first optical identification information transmitted by the first optical tag,
The distance measurement system further includes
Distance calculating means for calculating the distance based on the received radio wave intensity;
Determination means for determining whether the wireless identification information detected by the wireless tag detection means and the first optical identification information detected by the first optical tag detection means are identification information from the same transmitter. And a distance measurement system including a generation unit that generates result data using the distance calculated by the distance calculation unit as a measurement distance when the determination unit determines that the information is identification information from the same transmitter. Receiving characteristic storage means for storing reception sensitivity characteristic data indicating the reception sensitivity characteristic of the radio wave by the wireless tag detection means;
The first optical tag detection means further detects a first direction in which the first optical tag exists;
The distance calculation means, when the determination means determines that the identification information is from the same transmitter, the reception sensitivity characteristic data corresponding to the first direction detected by the first optical tag detection means and the The distance measurement system according to claim 1, wherein the distance is calculated based on a received radio wave intensity. The transmitting device is
Second optical identification information transmitted by a second optical tag provided in the detection device, second optical tag detection means for detecting a second direction in which the second optical tag exists, and detection by the second optical tag detection means Further comprising first transmission means for transmitting the second direction
The detection device further includes the second optical tag that transmits the second optical identification information with light,
The distance measurement system further includes
First receiving means for receiving the second direction of the second optical tag transmitted by the first transmitting means, and transmission characteristics for storing transmission characteristic data indicating transmission characteristics of radio waves of the wireless tag of the transmitting device Including storage means;
The distance calculation means, when the determination means determines that the identification information is from the same transmitter, the reception sensitivity characteristic data corresponding to the first direction detected by the first optical tag detection means, The distance is calculated based on the transmission characteristic data corresponding to the second direction of the radio wave of the radio tag of the transmitting device received by the first receiving unit and the received radio wave intensity. Distance measuring system. The transmitting device is
Second optical tag detection means for detecting second optical identification information transmitted by a second optical tag provided in the detection device and a second direction in which the second optical tag exists;
Transmission characteristic storage means for storing transmission characteristic data indicating transmission characteristics of radio waves of the wireless tag, and second transmission for transmitting the transmission characteristic data corresponding to the second direction detected by the second optical tag detection means Further comprising means,
The detection device further includes the second optical tag that transmits the second optical identification information with light,
The distance measuring system further includes second receiving means for receiving the transmission characteristic data corresponding to the second direction transmitted by the second transmitting means,
The distance calculation means, when the determination means determines that the identification information is from the same transmitter, the reception sensitivity characteristic data corresponding to the first direction detected by the first optical tag detection means, The distance measurement system according to claim 2, wherein the distance is calculated based on the transmission characteristic data corresponding to the second direction received by the second receiving unit and the received radio wave intensity.

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